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<div class="title">normal_space.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met: </span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_IMPL_NORMAL_SPACE_SAMPLE_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_IMPL_NORMAL_SPACE_SAMPLE_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/normal_space.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<a class="code" href="classpcl_1_1_normal_space_sampling.html">pcl::NormalSpaceSampling&lt;PointT, NormalT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">if</span> (!FilterIndices&lt;PointT&gt;::initCompute ())</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">// If sample size is 0 or if the sample size is greater then input cloud size then return entire copy of cloud</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordflow">if</span> (sample_ &gt;= input_-&gt;size ())</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[NormalSpaceSampling::initCompute] Requested more samples than the input cloud size: %d vs %lu\n&quot;</span>,</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;               sample_, input_-&gt;size ());</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  }</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  boost::mt19937 rng (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (seed_));</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  boost::uniform_int&lt;unsigned int&gt; uniform_distrib (0, <span class="keywordtype">unsigned</span> (input_-&gt;size ()));</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">if</span> (rng_uniform_distribution_ != NULL)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">delete</span> rng_uniform_distribution_;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  rng_uniform_distribution_ = <span class="keyword">new</span> boost::variate_generator&lt;boost::mt19937, boost::uniform_int&lt;unsigned int&gt; &gt; (rng, uniform_distrib);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a08b782f4d7714190f553a9cf19c7bca5">   73</a></span>&#160;<a class="code" href="classpcl_1_1_normal_space_sampling.html#a08b782f4d7714190f553a9cf19c7bca5">pcl::NormalSpaceSampling&lt;PointT, NormalT&gt;::applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;{</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">if</span> (keep_organized_)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">bool</span> temp = extract_removed_indices_;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    extract_removed_indices_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    applyFilter (indices);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    extract_removed_indices_ = temp;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    output = *input_;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> rii = 0; rii &lt; static_cast&lt;int&gt; (removed_indices_-&gt;size ()); ++rii)  <span class="comment">// rii = removed indices iterator</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(*removed_indices_)[rii]].x = output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(*removed_indices_)[rii]].y = output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[(*removed_indices_)[rii]].z = user_filter_value_;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (user_filter_value_))</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    applyFilter (indices);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*input_, indices, output);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a34d3ca316e7f59bc360c4addd0fa9639">   99</a></span>&#160;<a class="code" href="classpcl_1_1_normal_space_sampling.html#a34d3ca316e7f59bc360c4addd0fa9639">pcl::NormalSpaceSampling&lt;PointT, NormalT&gt;::isEntireBinSampled</a> (boost::dynamic_bitset&lt;&gt; &amp;array,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                                                               <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> start_index,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                                                               <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> length)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;{</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordtype">bool</span> status = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = start_index; i &lt; start_index + length; i++)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    status = status &amp; array.test (i);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordflow">return</span> status;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#aa731ae7b60df1fe9f0a27c0b85b9b901">  113</a></span>&#160;<a class="code" href="classpcl_1_1_normal_space_sampling.html#aa731ae7b60df1fe9f0a27c0b85b9b901">pcl::NormalSpaceSampling&lt;PointT, NormalT&gt;::findBin</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *normal, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;{</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bin_number = 0;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// Holds the bin numbers for direction cosines in x,y,z directions</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> t[3] = {0,0,0};</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">// dcos is the direction cosine.</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordtype">float</span> dcos = 0.0;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordtype">float</span> bin_size = 0.0;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="comment">// max_cos and min_cos are the maximum and minimum values of cos(theta) respectively</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordtype">float</span> max_cos = 1.0;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordtype">float</span> min_cos = -1.0;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="comment">//  dcos = cosf (normal[0]);</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  dcos = normal[0];</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  bin_size = (max_cos - min_cos) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binsx_);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">// Finding bin number for direction cosine in x direction</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> i = min_cos; (i + bin_size) &lt; (max_cos - bin_size); i += bin_size , k++)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keywordflow">if</span> (dcos &gt;= i &amp;&amp; dcos &lt;= (i+bin_size))</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  t[0] = k;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">//  dcos = cosf (normal[1]);</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  dcos = normal[1];</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  bin_size = (max_cos - min_cos) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binsy_);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// Finding bin number for direction cosine in y direction</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  k = 0;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> i = min_cos; (i + bin_size) &lt; (max_cos - bin_size); i += bin_size , k++)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">if</span> (dcos &gt;= i &amp;&amp; dcos &lt;= (i+bin_size))</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  t[1] = k;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">//  dcos = cosf (normal[2]);</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  dcos = normal[2];</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  bin_size = (max_cos - min_cos) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (binsz_);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="comment">// Finding bin number for direction cosine in z direction</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  k = 0;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> i = min_cos; (i + bin_size) &lt; (max_cos - bin_size); i += bin_size , k++)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordflow">if</span> (dcos &gt;= i &amp;&amp; dcos &lt;= (i+bin_size))</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  t[2] = k;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  bin_number = t[0] * (binsy_*binsz_) + t[1] * binsz_ + t[2];</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">return</span> bin_number;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;}</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#acbac957c439d811a28fb338f18164298">  177</a></span>&#160;<a class="code" href="classpcl_1_1_normal_space_sampling.html#a08b782f4d7714190f553a9cf19c7bca5">pcl::NormalSpaceSampling&lt;PointT, NormalT&gt;::applyFilter</a> (std::vector&lt;int&gt; &amp;indices)</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    indices = *indices_;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_values = (std::min) (sample_, <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_normals_-&gt;size ()));</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="comment">// Resize output indices to sample size</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  indices.resize (max_values);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  removed_indices_-&gt;resize (max_values);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="comment">// Allocate memory for the histogram of normals. Normals will then be sampled from each bin.</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n_bins = binsx_ * binsy_ * binsz_;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">// list&lt;int&gt; holds the indices of points in that bin. Using list to avoid repeated resizing of vectors.</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="comment">// Helps when the point cloud is large.</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  std::vector&lt;std::list &lt;int&gt; &gt; normals_hg;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  normals_hg.reserve (n_bins);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; n_bins; i++)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    normals_hg.push_back (std::list&lt;int&gt; ());</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator it = indices_-&gt;begin (); it != indices_-&gt;end (); ++it)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bin_number = findBin (input_normals_-&gt;points[*it].normal, n_bins);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    normals_hg[bin_number].push_back (*it);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="comment">// Setting up random access for the list created above. Maintaining the iterators to individual elements of the list</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="comment">// in a vector. Using vector now as the size of the list is known.</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  std::vector&lt;std::vector&lt;std::list&lt;int&gt;::iterator&gt; &gt; random_access (normals_hg.size ());</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; normals_hg.size (); i++)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    random_access.push_back (std::vector&lt;std::list&lt;int&gt;::iterator&gt; ());</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    random_access[i].resize (normals_hg[i].size ());</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">for</span> (std::list&lt;int&gt;::iterator itr = normals_hg[i].begin (); itr != normals_hg[i].end (); itr++, j++)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      random_access[i][j] = itr;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  std::vector&lt;unsigned int&gt; start_index (normals_hg.size ());</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  start_index[0] = 0;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> prev_index = start_index[0];</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1; i &lt; normals_hg.size (); i++)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    start_index[i] = prev_index + <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (normals_hg[i-1].size ());</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    prev_index = start_index[i];</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="comment">// Maintaining flags to check if a point is sampled</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  boost::dynamic_bitset&lt;&gt; is_sampled_flag (input_normals_-&gt;points.size ());</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="comment">// Maintaining flags to check if all points in the bin are sampled</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  boost::dynamic_bitset&lt;&gt; bin_empty_flag (normals_hg.size ());</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="keywordflow">while</span> (i &lt; sample_)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">// Iterating through every bin and picking one point at random, until the required number of points are sampled.</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j &lt; normals_hg.size (); j++)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> M = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (normals_hg[j].size ());</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keywordflow">if</span> (M == 0 || bin_empty_flag.test (j)) <span class="comment">// bin_empty_flag(i) is set if all points in that bin are sampled..</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos = 0;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> random_index = 0;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="comment">// Picking up a sample at random from jth bin</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="keywordflow">do</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        random_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((*rng_uniform_distribution_) () % M);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        pos = start_index[j] + random_index;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      } <span class="keywordflow">while</span> (is_sampled_flag.test (pos));</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      is_sampled_flag.flip (start_index[j] + random_index);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="comment">// Checking if all points in bin j are sampled.</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="keywordflow">if</span> (isEntireBinSampled (is_sampled_flag, start_index[j], <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (normals_hg[j].size ()))) </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        bin_empty_flag.flip (j);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index = *(random_access[j][random_index]);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      indices[i] = index;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      i++;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keywordflow">if</span> (i == sample_)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="comment">// If we need to return the indices that we haven&#39;t sampled</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keywordflow">if</span> (extract_removed_indices_)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  {</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    std::vector&lt;int&gt; indices_temp = indices;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    std::sort (indices_temp.begin (), indices_temp.end ());</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    std::vector&lt;int&gt; all_indices_temp = *indices_;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    std::sort (all_indices_temp.begin (), all_indices_temp.end ());</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    set_difference (all_indices_temp.begin (), all_indices_temp.end (), </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                    indices_temp.begin (), indices_temp.end (), </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                    inserter (*removed_indices_, removed_indices_-&gt;begin ()));</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;}</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_NormalSpaceSampling(T,NT) template class PCL_EXPORTS pcl::NormalSpaceSampling&lt;T,NT&gt;;</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FILTERS_IMPL_NORMAL_SPACE_SAMPLE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html">pcl::NormalSpaceSampling</a></div><div class="ttdoc">NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every...</div><div class="ttdef"><b>Definition:</b> normal_space.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a08b782f4d7714190f553a9cf19c7bca5"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a08b782f4d7714190f553a9cf19c7bca5">pcl::NormalSpaceSampling::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Sample of point indices into a separate PointCloud</div><div class="ttdef"><b>Definition:</b> normal_space.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a34d3ca316e7f59bc360c4addd0fa9639"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a34d3ca316e7f59bc360c4addd0fa9639">pcl::NormalSpaceSampling::isEntireBinSampled</a></div><div class="ttdeci">bool isEntireBinSampled(boost::dynamic_bitset&lt;&gt; &amp;array, unsigned int start_index, unsigned int length)</div><div class="ttdoc">Checks of the entire bin is sampled, returns true or false</div><div class="ttdef"><b>Definition:</b> normal_space.hpp:99</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_aa731ae7b60df1fe9f0a27c0b85b9b901"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#aa731ae7b60df1fe9f0a27c0b85b9b901">pcl::NormalSpaceSampling::findBin</a></div><div class="ttdeci">unsigned int findBin(const float *normal, unsigned int nbins)</div><div class="ttdoc">Finds the bin number of the input normal, returns the bin number</div><div class="ttdef"><b>Definition:</b> normal_space.hpp:113</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
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